syms q1 q2 q3 q4 q5 q6
% A1 = T(-pi/2,0,q1,230.95)
% A2 = T(0,220,q2,0)
% A3 = T(pi/2,0,q3,0)
% A4 = T(-pi/2,0,q4,-246.6)
% A5 = T(pi/2,0,q5,0)
% A6 = T(0,0,q6,-168.27)
% % 
% A1*A2*A3*A4*A5*A6
syms px py pz a2 a3 
c3 = (px^2+py^2+pz^2 -a2^2-a3^2)/2*a2*a3

s3 = (1-c3^2)^(-1)



simplify(s3/c3,'Steps',200)
pretty(simplify(s3/c3,'Steps',200))

% % B1 = simplify(A1*A2*A3*A4*A5*A6,'Steps',100)
% z = simplify(B1(3,4),'Steps',2000)
% y = collect(B1(2,4))
% xs = simplify(B1(1,4),'Steps',2000)
% 
